mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.3 KiB
C
56 lines
1.3 KiB
C
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#include <stdio.h>
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#include <sys/time.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <errno.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <sys/mman.h>
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#include <sys/stat.h>
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#include <stdint.h>
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#define PRUSS_SHAREDRAM_BASE 0x4a312000
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#define NUM_RING_ENTRIES 200
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struct ring_buffer {
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volatile uint16_t ring_head;
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volatile uint16_t ring_tail;
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struct __attribute__((__packed__)) {
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uint16_t pin_value;
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uint16_t delta_t;
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} buffer[NUM_RING_ENTRIES];
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};
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static volatile struct ring_buffer *ring_buffer;
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static FILE *logf;
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void startup(void)
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{
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logf = fopen("/tmp/pintiming.dat", "w");
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}
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void check_for_rcin(void)
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{
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while (ring_buffer->ring_head != ring_buffer->ring_tail) {
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fprintf(logf,"%u %u\n",
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(unsigned int)ring_buffer->buffer[ring_buffer->ring_head].pin_value,
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(unsigned int)ring_buffer->buffer[ring_buffer->ring_head].delta_t);
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ring_buffer->ring_head = (ring_buffer->ring_head + 1) % NUM_RING_ENTRIES;
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}
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}
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void main(){
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int mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
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ring_buffer = (volatile struct ring_buffer*) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, PRUSS_SHAREDRAM_BASE);
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close(mem_fd);
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ring_buffer->ring_head = 0;
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startup();
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while(1){
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check_for_rcin();
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}
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}
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